Accurate and efficient approximation of clothoids using Bézier curves for path planning

• Main Authors: Chen, Yong, Cai, Yiyu, Zheng, Jianmin, Thalmann, Daniel
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering::Robots; Nonholonomic Motion Planning; Geometric Continuity
• Online Access: https://hdl.handle.net/10356/140509
• Institution: Nanyang Technological University

An accurate and efficient clothoid approximation approach is presented in this paper using Bézier curves based on the minimization of curvature profile difference. Compared with existing methods, the proposed approach is able to guarantee higher order geometric continuity with smaller approximation...